/*
 * pse_stepper_planer.c
 *
 *  Created on: Aug 14, 2023
 *      Author: leo
 */

#include <stdint.h>

#include "PSE_unit.h"

unsigned int tick_counter = 0;

void pse_stepper_planer_tick(pse_unit* units, uint8_t units_num){
	for(int i = 0; i < units_num; i++){
		pse_stepper_conf* c = units[i].stepper_conf;

		int state;
		if(c->step_max){
			state = tick_counter % 2;
		}
		else{
			state = (tick_counter % c->step_itvl) == 0;
		}
		HAL_GPIO_WritePin(c->STEP_GPIO_Port, c->STEP_GPIO_Pin, tick_counter%2);
	}

	tick_counter++;
}

unsigned int get_tick_counter(){
	return tick_counter;
}

void pse_sp_start_axis(pse_stepper_conf* conf){
	HAL_GPIO_WritePin(conf->EN_GPIO_Port, conf->EN_GPIO_Pin, GPIO_PIN_RESET);
}
void pse_sp_stop_axis(pse_stepper_conf* conf){
	HAL_GPIO_WritePin(conf->EN_GPIO_Port, conf->EN_GPIO_Pin, GPIO_PIN_SET);
}

void pse_sp_set_dir(pse_stepper_conf* conf, int dir){
	HAL_GPIO_WritePin(conf->DIR_GPIO_Port, conf->DIR_GPIO_Pin, dir);
}